Tracking Control Properties of Human–Robotic Systems Based on Impedance Control
Use this link to cite this item : https://ir.lib.hiroshima-u.ac.jp/00014214
| ID | 14214 |
| file | |
| creator |
Tanaka, Yoshiyuki
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| subject | Human–robotic systems
impedance control
man–machine systems
neural network (NN)
tracking test
training system
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| NDC |
Technology. Engineering
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| abstract | Human–robotic systems that include interaction betweenhuman operators and robots should be designed with carefulconsideration for the dynamic property and control ability of ahuman operator. This paper performs manual tracking controltests on a human–robotic system using an impedance-controlledrobot, and investigates control characteristics of a human operatoraccording to the robot impedance properties. Experimental resultsdemonstrate that humans try to maintain dynamic properties ofan overall system as constant as possible by adjusting their ownimpedance properties. Then, a new training system using a neuralnetwork for operating a human–robotic system is constructedon the basis of the experimental findings in the human trackingcontrol properties.
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| journal title |
IEEE Transactions on Systems, Man, and Cybernetics-Part A: Systems and Humans
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| volume | Volume 35
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| issue | Issue 4
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| start page | 523
|
| end page | 535
|
| date of issued | 2005
|
| publisher | IEEE
|
| issn | 1083-4427
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| publisher doi | |
| language |
eng
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| nii type |
Journal Article
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| HU type |
Journal Articles
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| DCMI type | text
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| format | application/pdf
|
| text version | publisher
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| rights | Copyright (c) 2005 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
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| relation is version of URL | http://dx.doi.org/10.1109/TSMCA.2005.850603
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| department |
Graduate School of Engineering
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